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  •   Open Research
  • Faculties
  • Faculty of Design and Creative Technologies (Te Ara Auaha)
  • School of Engineering, Computer and Mathematical Sciences - Te Kura Mātai Pūhanga, Rorohiko, Pāngarau
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An Approach on Velocity and Stability Control of a Two-wheeled Robotic Wheelchair

Nikpour, M; Huang, L; Al-Jumaily, AM
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Journal article (1.085Mb)
Permanent link
http://hdl.handle.net/10292/13694
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Abstract
Conventional robotic wheelchairs (three or four-wheeled) which are statically stable are poor in mobility. Though a two-wheeled robotic wheelchair has better mobility, it is not statically stable and needs an active stability controller. In addition to mobility and stability, velocity control is also important for the operation of a wheelchair. Conventional stability and velocity controllers rely on the motion of the wheels and require high driving torque and power. In this paper, this problem is tackled by adding a compact pendulum-like movable mechanism whose main function is for stability control. Its motion and those of the wheels are controlled through a quasi-sliding mode control approach to achieve a simultaneous velocity and stability control with much less driving torque and power. Simulation results are presented to show the effectiveness of the proposed controller.
Keywords
Two-wheeled robotic wheelchair; Stability control; Velocity control; Quasi-sliding mode control
Source
Applied Sciences. 2020; 10(18):6446.
Item Type
Journal Article
Publisher
MDPI AG
DOI
10.3390/app10186446
Publisher's Version
https://www.mdpi.com/2076-3417/10/18/6446
Rights Statement
© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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